A communication method, terminal device and system

Abstract

The application provides a communication method, a terminal device and a system, which are suitable for V2X, intelligent driving, intelligent networked vehicles and the like, and can improve resource utilization. The method comprises the following steps: a first terminal device receives first sidelink information from a third terminal device in a first time slot; the first terminal device determines available time-frequency resources and / or unavailable time-frequency resources in the first time slot according to the first sidelink information; and the first terminal device sends first indication information to a second terminal device, wherein the first indication information is used to indicate the available time-frequency resources and / or the unavailable time-frequency resources in the first time slot, and the first time slot is a time slot in which the second terminal device sends second sidelink information.

Description

Technical Field

[0001] This application relates to the field of communications, and more specifically, to a communication method, terminal device, and system. Background Technology

[0002] Vehicle-to-everything (V2X) communication refers to communication between a vehicle and anything in the outside world, including vehicle-to-vehicle (V2V), vehicle-to-pedestrian (V2P), vehicle-to-infrastructure (V2I), and vehicle-to-network (V2N).

[0003] V2X communication is designed for high-speed devices, such as vehicles, and is a fundamental and key technology for future applications with extremely high latency requirements, such as intelligent vehicles, autonomous driving, and intelligent transportation systems. V2X communication can support communication scenarios with and without network coverage, and its resource allocation methods include network-based allocation of V2X transmission resources and terminal-autonomous selection of V2X transmission resources.

[0004] In V2X transmission resource selection by the terminal itself, to ensure reliability, the sending terminal selects resources by listening (sensing). Within the resource pool of the listening window, it receives side-channel information from other terminals. If the sending terminal cannot or does not listen in a certain time slot within the listening window, meaning it cannot know the resource occupancy status of other terminals in that time slot (e.g., if the sending terminal is in a transmitting state in that time slot, it cannot transmit and receive simultaneously due to half-duplex conditions), the sending terminal, based on configured, pre-configured, or predefined resource reservation period information, excludes all resources in the corresponding time slot within its resource selection window that have passed through several such reservation periods. These excluded resources cannot be used by the sending terminal to transmit information to other terminals. This can easily lead to excessive resource exclusion, reducing available resources and lowering resource utilization. Summary of the Invention

[0005] This application provides a communication method, terminal device, and system that can improve resource utilization.

[0006] In V2X communication, vehicles may encounter many unexpected traffic situations while driving. For example, a vehicle may stop in the fast lane on a highway due to engine failure. This vehicle (i.e., the transmitting terminal) will send this stopping information to other vehicles around it in the first time slot. Then, if the transmitting terminal fails to place warning signs as required, it may cause a collision with a vehicle behind it. The transmitting terminal then needs to send the collision information to other vehicles around it.

[0007] Due to the limitations of half-duplex communication, the transmitting terminal cannot receive signals from other vehicles during the first time slot in its listening window when transmitting parking information. Therefore, it cannot assess the resource occupancy in this first time slot. Existing technologies employ the most conservative approach: excluding all resources that cannot be assessed due to the half-duplex limitation. However, in this embodiment, an auxiliary terminal is used to assess resource occupancy in the first time slot instead of the transmitting terminal. The assessment results are then indicated to the transmitting terminal. The transmitting terminal, based on the assessment results indicated by the auxiliary terminal, determines which resources in the first time slot can be used to determine the transmission of collision information, instead of excluding all resources, thus improving resource utilization.

[0008] Firstly, a communication method is provided, which is executed by a first terminal device. The first terminal device can be a first terminal equipment or a component within the first terminal equipment. The first terminal equipment can be an auxiliary terminal in V2X communication, for example, a vehicle that performs resource assessment on behalf of the transmitting terminal when the transmitting terminal is unable to do so, or a roadside unit (RSU). The components within the first terminal equipment can be, for example, a processor, an in-vehicle communication module, a chip, or a chip system installed in the auxiliary terminal.

[0009] The method includes: a first terminal device receiving first side-going information from a third terminal device in a first time slot; the first terminal device determining available and / or unavailable time-frequency resources in the first time slot based on the first side-going information; the first terminal device sending first indication information to a second terminal device, the first indication information indicating available and / or unavailable time-frequency resources in the first time slot, the first time slot being the time slot in which the second terminal device sends second side-going information.

[0010] Based on the above technical solution, the second terminal device sends second side-going information in the first time slot, causing it to be unable to listen to the time-frequency resources or reserved time-frequency resources used by other terminal devices to send side-going information. The first terminal device can learn about the time-frequency resources used by other terminal devices to send side-going information or reserved time-frequency resources by listening in the first time slot, and indicate the determined available time-frequency resources and / or unavailable time-frequency resources to the second terminal device through the first indication information. This can prevent the second terminal device from excluding all available periodic time-frequency resources based on the resource reservation period information, thereby increasing the available time-frequency resources and improving resource utilization.

[0011] For example, a vehicle involved in a collision on a highway receives a first indication message from an auxiliary vehicle in the surrounding area. The first indication message indicates the resource assessment results obtained by the auxiliary vehicle in a first time slot, which the vehicle involved in the collision cannot perform due to sending a stop information. When determining the resources that sent the collision information, the vehicle involved in the collision will consider the available and / or unavailable time-frequency resources in the first time slot based on this first indication message, instead of excluding all resources corresponding to the first time slot, thereby improving resource utilization.

[0012] In one possible design, the method further includes: the first terminal device receiving second side-link information from the second terminal device in the first time slot; the first terminal device determining the first time slot as the time slot for the second terminal device to send the second side-link information based on receiving the second side-link information from the second terminal device in the first time slot.

[0013] By adopting this design, the first terminal device can determine which time slots are for the second terminal device to send information, and can provide more targeted resource assistance to the second terminal device, thereby improving resource utilization and further enhancing reliability.

[0014] For example, an auxiliary vehicle can determine which time slots are where the vehicle involved in the collision sends information, and then perform resource assessment on behalf of the vehicle involved in the collision during those time slots.

[0015] In one possible design, the first time slot is located in the listening window of the second terminal device.

[0016] In one possible design, the first time slot includes at least one sub-channel, and at least one first sub-channel in the first time slot is used by the second terminal device to transmit the second side-going information, wherein the at least one first sub-channel belongs to the at least one sub-channel.

[0017] In one possible design, the first terminal device determines the available and / or unavailable time-frequency resources in the first time slot based on the first side-going information, including: the first terminal device determines the available and / or unavailable time-frequency resources in all sub-channels of the first time slot based on the first side-going information and / or the second side-going information; or, the first terminal device determines the available and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding the at least one first sub-channel, based on the first side-going information.

[0018] In one possible design, the first indication information is used to indicate available and / or unavailable time-frequency resources in all sub-channels of the first time slot; or, the first indication information is used to indicate available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding the at least one first sub-channel.

[0019] In one possible design, the first terminal device determines, based on a first threshold, the available and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding the at least one first sub-channel; the first terminal device determines, based on a second threshold, the available and / or unavailable time-frequency resources in the at least one first sub-channel, where the second threshold is greater than the first threshold.

[0020] With this design, since the second threshold is greater than the first threshold, it is easier to determine available resources in the at least one first sub-channel compared to the remaining sub-channels in all sub-channels of the first time slot, excluding the at least one first sub-channel, thus further improving resource utilization.

[0021] In one possible design, the first terminal device sends the first indication information to the second terminal device on the physical side feedback channel.

[0022] Secondly, a communication method is provided, which is executed by a second terminal device. The second terminal device includes a second terminal equipment or components within the second terminal equipment. The second terminal equipment can be a data transmitter in V2X communication, such as a transmitting vehicle that needs to send relevant information about a sudden traffic accident to other vehicles during driving, or a roadside unit (RSU) that has detected the sudden traffic accident. The components within the second terminal equipment can be, for example, a processor, an in-vehicle communication module, a chip, or a chip system installed in the transmitting vehicle.

[0023] The method includes: a second terminal device sending second side-link information to a first terminal device in a first time slot; the second terminal device receiving first indication information from the first terminal device, the first indication information indicating available and / or unavailable time-frequency resources in the first time slot, wherein the available and / or unavailable time-frequency resources in the first time slot are determined by the first terminal device based on first side-link information received from a third terminal device in the first time slot; and the second terminal device determining the time-frequency resources for sending third side-link information based on the first indication information.

[0024] Based on the above technical solution, the second terminal device sends second side-going information in the first time slot, causing it to be unable to listen to the time-frequency resources or reserved time-frequency resources used by other terminal devices to send side-going information. The first terminal device can learn about the time-frequency resources used by other terminal devices to send side-going information or reserved time-frequency resources by listening in the first time slot, and indicate the determined available time-frequency resources and / or unavailable time-frequency resources to the second terminal device through the first indication information. This can prevent the second terminal device from excluding all available periodic time-frequency resources based on the resource reservation period information, thereby increasing the available time-frequency resources and improving resource utilization.

[0025] For example, a vehicle involved in a collision on a highway receives a first indication message from an auxiliary vehicle in the surrounding area. The first indication message indicates the resource assessment results obtained by the auxiliary vehicle in a first time slot, which the vehicle involved in the collision cannot perform due to sending a stop information. When determining the resources that sent the collision information, the vehicle involved in the collision will consider the available and / or unavailable time-frequency resources in the first time slot based on this first indication message, instead of excluding all resources corresponding to the first time slot, thereby improving resource utilization.

[0026] In one possible design, the first time slot is located in the listening window of the second terminal device.

[0027] In one possible design, the first time slot includes at least one sub-channel, and the second terminal device sends the second side-going information to the first terminal device in at least one first sub-channel of the first time slot, wherein the at least one first sub-channel belongs to the at least one sub-channel.

[0028] In one possible design, the first indication information is used to indicate available and / or unavailable time-frequency resources in all sub-channels of the first time slot; or, the first indication information is used to indicate available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding the at least one first sub-channel.

[0029] In one possible design, the available and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding the at least one first sub-channel, are determined according to a first threshold; the available and / or unavailable time-frequency resources in the at least one first sub-channel are determined according to a second threshold, which is greater than the first threshold.

[0030] With this design, since the second threshold is greater than the first threshold, it is easier to determine available resources in the at least one first sub-channel compared to the remaining sub-channels in all sub-channels of the first time slot, excluding the at least one first sub-channel, thus further improving resource utilization.

[0031] In one possible design, the second terminal device receives the first indication information from the first terminal device on the physical side line feedback channel.

[0032] Thirdly, a first terminal device is provided, which can execute the method provided in the first aspect. The first terminal device specifically includes: a transceiver unit, configured to receive first side-link information from a third terminal device in a first time slot; a processing unit, configured to determine available and / or unavailable time-frequency resources in the first time slot based on the first side-link information; the transceiver unit is further configured to send first indication information to a second terminal device, the first indication information being used to indicate available and / or unavailable time-frequency resources in the first time slot, wherein the first time slot is the time slot in which the second terminal device sends second side-link information.

[0033] In one possible design, the transceiver unit is further configured to receive the second sideline information from the second terminal device in the first time slot; the processing unit is further configured to determine, based on receiving the second sideline information from the second terminal device in the first time slot, that the first time slot is the time slot in which the second terminal device transmits the second sideline information.

[0034] In one possible design, the first time slot is located in the listening window of the second terminal device.

[0035] In one possible design, the first time slot includes at least one sub-channel, and at least one first sub-channel in the first time slot is used by the second terminal device to transmit the second side-going information, wherein the at least one first sub-channel belongs to the at least one sub-channel.

[0036] In one possible design, the processing unit is specifically configured to: determine, based on the first sideline information and / or the second sideline information, the available and / or unavailable time-frequency resources in all sub-channels of the first time slot; or, based on the first sideline information, determine, based on the first sideline information, the available and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding the at least one first sub-channel.

[0037] In one possible design, the first indication information is used to indicate available and / or unavailable time-frequency resources in all sub-channels of the first time slot; or, the first indication information is used to indicate available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding the at least one first sub-channel.

[0038] In one possible design, the processing unit is specifically configured to: determine, based on a first threshold, the available and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding the at least one first sub-channel; and determine, based on a second threshold, the available and / or unavailable time-frequency resources in the at least one first sub-channel, wherein the second threshold is greater than the first threshold.

[0039] In one possible design, the transceiver unit is further configured to send the first indication information to the second terminal device on the physical side line feedback channel.

[0040] Fourthly, a second terminal device is provided, which can execute the method provided in the second aspect. The second terminal device specifically includes: a transceiver unit configured to send second side-link information to a first terminal device in a first time slot; the transceiver unit is further configured to receive first indication information from the first terminal device, the first indication information indicating available and / or unavailable time-frequency resources in the first time slot, wherein the available and / or unavailable time-frequency resources in the first time slot are determined by the first terminal device based on first side-link information received from a third terminal device in the first time slot; and a processing unit configured to determine the time-frequency resources for sending third side-link information based on the first indication information.

[0041] In one possible design, the first time slot is located in the listening window of the second terminal device.

[0042] In one possible design, the first time slot includes at least one sub-channel, and the second terminal device sends the second side-going information to the first terminal device in at least one first sub-channel of the first time slot, wherein the at least one first sub-channel belongs to the at least one sub-channel.

[0043] In one possible design, the first indication information is used to indicate available and / or unavailable time-frequency resources in all sub-channels of the first time slot; or, the first indication information is used to indicate available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding the at least one first sub-channel.

[0044] In one possible design, the available and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding the at least one first sub-channel, are determined according to a first threshold; the available and / or unavailable time-frequency resources in the at least one first sub-channel are determined according to a second threshold, which is greater than the first threshold.

[0045] In one possible design, the transceiver unit is further configured to receive the first indication information from the first terminal device on a physical side line feedback channel.

[0046] Fifthly, a communication device is provided, comprising: a processor coupled to at least one memory, the processor being configured to read a computer program stored in the at least one memory to execute the methods of the first aspect or any possible design of the first aspect, or to execute the methods of the second aspect or any possible design of the second aspect.

[0047] In a sixth aspect, a computer-readable storage medium is provided, the computer-readable medium storing a computer program; when the computer program is run on a computer, it causes the computer to perform the methods in any possible design of the first or second aspect.

[0048] In a seventh aspect, a computer program product is provided that, when run on a computer, causes the computer to perform the methods described in the first to second aspects or any possible design thereof.

[0049] Eighthly, a chip is provided, comprising: a processor and a communication interface, the processor being configured to read instructions or a computer program to perform any of the possible designs of the first or second aspect described above.

[0050] A ninth aspect provides a communication system comprising a first terminal device as described in the first aspect of the method, and a second terminal device as described in the second aspect of the method.

[0051] The beneficial effects of the third to ninth aspects and their possible designs can be referred to the beneficial effects of the first or second aspects and their possible designs. Attached Figure Description

[0052] Figure 1 This is a schematic diagram illustrating communication between a vehicle and external objects.

[0053] Figure 2 This is a schematic diagram of the time-domain unit logic in an embodiment of this application.

[0054] Figure 3 This is a diagram illustrating resource selection.

[0055] Figure 4 This is a schematic diagram of a communication scenario applicable to the embodiments of this application.

[0056] Figure 5 This is a schematic flowchart illustrating a communication method according to an embodiment of this application.

[0057] Figure 6 This is a schematic diagram illustrating one embodiment of resource selection in this application.

[0058] Figure 7 This is a schematic diagram illustrating another resource selection method according to an embodiment of this application.

[0059] Figure 8 This is a schematic diagram illustrating the transmission of the first instruction information according to an embodiment of this application.

[0060] Figure 9 This is a schematic block diagram of a communication device according to an embodiment of this application.

[0061] Figure 10 This is a schematic block diagram of another communication device according to an embodiment of this application.

[0062] Figure 11 This is a schematic block diagram of another communication device according to an embodiment of this application.

[0063] Figure 12 This is a schematic block diagram of a communication system according to an embodiment of this application. Detailed Implementation

[0064] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0065] The following explanations of some terms used in the embodiments of this application are provided to facilitate understanding by those skilled in the art.

[0066] 1) A terminal device, such as a terminal equipment, or a module for implementing the functions of a terminal equipment, such as a chip system, which may be located within the terminal equipment. The terminal equipment includes devices that provide voice and / or data connectivity to users; specifically, it includes devices that provide voice connectivity to users, or devices that provide data connectivity to users, or devices that provide both voice and data connectivity to users. For example, it may include a handheld device with wireless connectivity or a processing device connected to a wireless modem. The terminal equipment can communicate with the core network via a radio access network (RAN), exchanging voice or data with the RAN, or interacting with the RAN in voice and data manner. The terminal equipment may include user equipment (UE), wireless terminal equipment, mobile terminal equipment, device-to-device (D2D) terminal equipment, V2X terminal equipment, machine-to-machine / machine-type communications (M2M / MTC) terminal equipment, and Internet of Things (IoT) terminal equipment. Most typically, the terminal device can be a vehicle or a terminal-type roadside unit, or a communication module or chip built into a vehicle or roadside unit. For example... Figure 1 The diagram shown illustrates how a vehicle communicates with external objects.

[0067] In this embodiment of the application, direct communication (PC5) interface communication is supported between terminal devices, that is, transmission is supported through the side link.

[0068] By way of example and not limitation, in this embodiment, the terminal device can also be a wearable device. Wearable devices, also known as wearable smart devices or smart wearable devices, are a general term for devices that utilize wearable technology to intelligently design and develop everyday wearables, such as glasses, gloves, watches, clothing, and shoes. Wearable devices are portable devices that are worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are not merely hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are feature-rich, large in size, and can achieve complete or partial functions without relying on a smartphone, such as smartwatches or smart glasses, as well as those that focus on a specific type of application function and require the use of other devices such as smartphones, such as various smart bracelets, smart helmets, and smart jewelry for vital sign monitoring.

[0069] The various terminal devices described above, if located in a vehicle (e.g., placed inside or installed inside a vehicle), can be considered as vehicle-mounted terminal devices, also known as on-board units (OBUs).

[0070] In this embodiment, the terminal device may further include a relay. Alternatively, it can be understood that anything capable of data communication with a base station can be considered a terminal device.

[0071] 2) Network equipment, such as access network (AN) equipment, like base stations (e.g., access points), can refer to equipment in the access network that communicates with wireless terminal equipment via one or more cells over the air interface, or, for example, a roadside unit (RSU) in a V2X technology. An RSU can be a fixed infrastructure entity supporting V2X applications and can exchange messages with other entities supporting V2X applications. Network equipment can include next-generation node B (gNB) in a 5th generation (5G) new radio (NR) system (also simply referred to as the NR system), or it can include centralized units (CU) and distributed units (DU) in a cloud radio access network (Cloud RAN) system; however, this application embodiment is not limited to these categories.

[0072] 3) Side-by-side communication transmission modes. Side-by-side communication between terminal devices has two transmission modes: network device-scheduled mode (usually referred to as Transmission Mode 1) and user-selective resource mode (usually referred to as Transmission Mode 2).

[0073] Within network coverage, the terminal device obtains SL resource pool configuration information by receiving system information blocks (SIBs) from the network device, cell-specific radio resource control (RRC) signaling, or UE-specific RRC signaling. The terminal device can also use factory-pre-configured SL resource pool configuration information, for example, when there is no network coverage. The SL resource pool configuration information indicates the SL resource pool, which is a collection of time-frequency resources used for side-link communication between UEs. The resource pool may include code domain resources. The resources in the resource pool include resources for the terminal device to transmit and receive at least one of the following physical channels, such as PSCCH, PSSCH, PSDCH, PSFCH, PSBCH, etc. The service type carried by PSSCH may include unicast, multicast, and / or broadcast communication types.

[0074] In the time domain of the SL resource pool, it includes one or more time units. A time unit can be a symbol, several symbols, a time slot, a subframe, a frame, etc. The one or more time units can be continuous or discrete in time. In the frequency domain of the SL resource pool, it includes one or more frequency domain units. A frequency domain unit can be a resource element (RE), several REs, a resource block (RB), several RBs, a subchannel, or several subchannels. A subchannel includes one or more RBs that are continuous or discontinuous in the frequency domain. In this application, unless the meaning of a time unit is specifically stated, it is described using the term time slot, but it is not limited to the time unit being only a time slot; unless the meaning of a time-frequency domain unit is specifically stated, it is described using the term subchannel, but it is not limited to the frequency domain unit being only a subchannel.

[0075] The time slots contained within a resource pool are logically consecutive; these time slots are called logical time slots. For example... Figure 2As shown, a logical timeslot diagram is presented, where timeslots 1 to 8 are consecutive in time and are called physical timeslots. A resource pool is configured in the time domain including timeslots 1, 3, 5, and 8. Although these timeslots are not all consecutive in time, from the perspective of the resource pool, they are relatively consecutive and are called logical timeslots. Timeslots 1', 2', 3', and 4' are the logical timeslots corresponding to physical timeslots 1, 3, 5, and 8 in this resource pool, respectively. The resource pool configuration information also includes resource reservation period information, which can indicate a set of resource reservation period values ​​{P1, P2, P3, ..., P...}. i}, where i is a positive integer greater than or equal to 1. For example, this set of values ​​contains 16 different resource reservation period values, {P1, P2, P3, ..., P... 16 The resource reservation period value can be any integer value from 0 to 99, or 100, 200, 300, ..., 1000, etc., and the unit can be milliseconds or time slots. The {P1, P2, P3, ..., P...} i} represents physical time. In a resource pool, {P1,P2,P3,…,P} i The logical resource reservation period value corresponding to} is {P′1,P′2,P′3,…,P′}. i}, {P′1,P′2,P′3,…,P′ i The unit of} can be a time slot. It is understandable that when a resource pool includes time slots that are consecutive in time, i.e., the resource pool is physically consecutive, then the logical time slots and physical time slots of the resource pool are equal. The resource reservation period value information is used to indicate the set of resource reservation period values ​​that the terminal device may allow in the resource pool; that is, the terminal device uses a certain resource reservation period value from the resource reservation period set to periodically send SL information. In the autonomous resource selection transmission mode, the terminal device determines resource selection by sensing. Specifically, the method for determining resource selection based on sensing includes...

[0076] A terminal device generates SL information to be transmitted at time slot n. The SL information includes at least one of the following: physical sidelink shared channel (PSSCH), physical sidelink control channel (PSCCH), physical broadcast control channel (PSBCH), physical sidelink feedback channel (PSFCH), and physical downlink control channel (PDCCH).

[0077] In one example, the method by which the terminal device determines the transmission resources for transmitting sideline information by listening to a set of time-frequency resources may include:

[0078] The terminal device triggers a resource selection process at time slot n to determine the time-frequency resources used to transmit the SL information to be transmitted. The SL information includes at least one of the following: physical sidelink shared channel (PSSCH), physical sidelink control channel (PSCCH), physical broadcast control channel (PSBCH), physical sidelink feedback channel (PSFCH), and physical sidelink data channel (PSDCH). The service type carried by the PSSCH may include unicast, multicast, and / or broadcast communication types.

[0079] It should be understood that the expression [A,B] in this application represents the range of values ​​including boundary points A and B, and the expression (A,B) represents the range of values ​​excluding both boundary points A and B. Similarly, the expression [A,B) ​​represents the range of values ​​including boundary point A but excluding boundary point B, and the expression (A,B] represents the range of values ​​excluding boundary point A but including boundary point B. This will not be elaborated further elsewhere in the text.

[0080] The terminal device is within the listening window, for example, in a time slot. Within the resource pool, it receives SL information from other terminal devices in the network, such as PSCCH and / or PSSCH. The listening window is a period of time during which a terminal device listens to other terminal devices to obtain information about their resource usage before sending data. T0 is configured or pre-configured by the network device. The value of μ is determined by the terminal device according to Table 1. SL The sub-carrier spacing (SCS) is related to the bandwidth part (BWP) of the terminal device, μ SL This can be understood as the SCS configuration parameter of the SL BWP. Specifically, the subcarrier spacing SCS and μ SL The corresponding relationships are shown in Table 2 below. The terminal device can determine the parameters based on Tables 1 and 2. Tables 1 and 2 are predefined by the protocol. One understandable approach is that the terminal device determines the transmission resources used for sending sideline information by listening to the time-frequency resource set. Specifically, it determines the transmission resources used for sending sideline information by listening to the time-frequency resource set within the listening window of the time-frequency resource set.

[0081] Table 1

[0082]

[0083] Table 2

[0084] <![CDATA[μ SL ]]> <![CDATA[Δf=2 μ ·15[kHz]]]> 0 15 1 30 2 60 3 120 4 240

[0085] A single Service Context (SCI) can schedule at least one sideline transmission, such as a PSSCH transmission. For example, an SCI might schedule three sideline transmissions: the first sideline transmission is the initial transmission of data carried by a PSSCH, and the subsequent two sideline transmissions are retransmissions of that data. Alternatively, an SCI might schedule three sideline transmissions, each of which is a retransmission of the same data. The SCI detected by the terminal device includes time-domain and / or frequency-domain resource information for the scheduled sideline transmissions, a resource reservation period indication reflecting the data service cycle (carried through a resource reservation period field), and priority information. Specifically, the priority information can indicate the priority information corresponding to the scheduled PSSCH and / or the priority information of the PSFCH associated with the scheduled PSSCH. The priority information indicates a priority value, which can be any one of 1, 2, 3, 4, 5, 6, 7, or 8. In other words, any terminal device can reserve one or more future time-frequency resources for sending new transmissions and / or retransmissions of SL information by sending an SCI. In one example, the terminal device listens to and decodes sidelink control information (SCI) sent by other terminal devices on the PSCCH to learn about the time-frequency resource reservation status of other terminal devices within the terminal device's selection window. It then determines whether to send SL information within its selection window, for example, within time slots [n+T1, n+T2], where n+T1 is the starting time slot number, n+T2 is the ending time slot number, and T1 and T2 are determined based on the terminal device's data delay. This avoids the terminal selecting time-frequency resources already reserved by other terminal devices within the selection window to send SL information, thereby reducing resource collisions and improving the reliability of SL information transmission.

[0086] If the terminal device is in the listening window slot If no listening occurs on a specific time slot within the network, for example, if the terminal device is in a transmitting state on that time slot, it cannot transmit and receive simultaneously due to half-duplex conditions. In this case, the terminal device, based on the resource reservation period information configured, pre-configured, or predefined by the network equipment, excludes that time slot and then selects all resources in the corresponding time slot within the resource selection window [n+T1, n+T2] determined by the resource reservation period information. This resource reservation period information includes several resource reservation period values ​​{P1, P2, P3, ..., P...}. i Where i = 1, 2, 3, 4…16.

[0087] like Figure 3As shown, a resource selection diagram is presented. For example, the second terminal device performs SL transmission in time slot m, thus preventing listening on time slot m. Based on the configured resource reservation period values ​​P1 and P2, all resources on time slots m+P′1 and m+P′2 are excluded from the resource selection window, where P′1 and P′2 are the logical period values ​​in the time-frequency resource set corresponding to P1 and P2, respectively.

[0088] Furthermore, if the following conditions are met simultaneously, the second terminal device will also exclude the time-frequency resources reserved by other terminal devices in the selection window from the time-frequency resources that can be used to send the side-by-side information to be sent, that is, exclude unavailable time-frequency resources:

[0089] 1. The second terminal device in the time slot The received SCI includes a resource reservation period field, carrying a resource reservation period indication. The value of this resource reservation period indication is one of the set of resource reservation period values ​​that the terminal device may be allowed in the resource pool, as indicated by the resource reservation period information, and is tagged as P. rsvp_RX Furthermore, the priority field in this SCI indicates the value prior. RX ; where the value P rsvp_RX The period of PSSCH scheduled by this SCI, value prio RX This is the priority value of the PSSCH corresponding to this SCI. It is a listening window A specific time slot within the time frame.

[0090] 2. The RSRP measurement result determined by the second terminal device based on the SCI is higher than the threshold Th. prioTX,prioRX Among them, the threshold Th prioTX,prioRX This is a function that indicates the priority value in the received SCI and the priority value corresponding to the data to be transmitted by the second terminal device.

[0091] 3. The second terminal device in the time slot The time and frequency resources reserved by the received SCI overlap with the time and frequency resources in the selection window.

[0092] After excluding unavailable time-frequency resources within its resource selection window, the second terminal device can determine the remaining time-frequency resources as available. It then selects a time-frequency resource from these available resources to transmit the sideline information to be sent. The resource selection window is a time period during which the terminal device selects resources for sideline information transmission. The resource selection window typically appears later than the listening window in the time domain.

[0093] In some implementations, the number of times the second terminal device listens within the listening window can be reduced to conserve the terminal device's power. For example, this can be achieved by differentiating the listening window from other methods, such as using time slots. The system listens for time slots within time slot n, but only a portion of the time slots before time slot n (referred to as partial listening). The time-frequency resources used to transmit SL information are determined based on the results of the partial listening. For example, the second terminal device does not listen and selects the time-frequency resources for transmitting SL information randomly.

[0094] Due to the constraints of half-duplex operation, when a second terminal device is within its listening window and not listening to a particular time slot, it cannot obtain the SCI information of other terminal devices in that time slot, i.e., it cannot obtain the reservation information of other terminal devices in that time slot. Therefore, within the resource selection window of the second terminal device, it can only exclude all possible periodic resources based on reservations in that time slot from the available resources. This can easily lead to over-exclusion, reducing available resources, decreasing resource utilization, increasing the probability of resource selection collisions between different terminal devices, and reducing transmission reliability. Furthermore, because the second terminal device cannot obtain the reservation information of other terminal devices in that time slot, the listening results are also incomplete, further increasing the probability of resource selection collisions with other terminal devices and reducing transmission reliability.

[0095] Therefore, this application proposes a communication method that can improve resource utilization.

[0096] In this communication method, an auxiliary terminal device provides listening result information that the assisted terminal device itself cannot determine, which is used to assist the terminal device in resource selection, including excluding resources indicated as having collisions from available resources and retaining resources indicated as not having collisions as available resources.

[0097] This application is used in systems where terminal devices communicate directly, such as V2X and D2D. It is applicable to communication scenarios with and without network coverage, allowing the terminal device to autonomously select the transmission mode. The terminal device can be within or outside the network equipment's coverage area, such as... Figure 4 The diagram illustrates a communication scenario applicable to the embodiments of this application. Both the sending and receiving terminal devices can be within the coverage area of ​​the network device; one terminal device can be within the coverage area of ​​the network device, while the other can be outside the coverage area; or both terminal devices can be outside the coverage area of ​​the network device. This application does not impose any limitations on this.

[0098] like Figure 5As shown, a schematic flowchart of a communication method proposed in an embodiment of this application is presented.

[0099] 501. The second terminal device transmits second side-link information in the first time slot. It should be understood that the first time slot may refer to one time slot or multiple time slots. The first time slot is the time slot within the listening window of the second terminal device; the listening window is before the resource selection window for transmitting side-link information.

[0100] The first time slot includes at least one sub-channel, and the second terminal device can use at least one first sub-channel in the first time slot to send second side-channel information, wherein at least one first sub-channel belongs to at least one sub-channel.

[0101] 510, the first terminal device receives first side-link information from the third terminal device in the first time slot. It can be understood that the third terminal device refers to any terminal other than the first and second terminals. There may be one or more third terminal devices sending the first side-link information in the first time slot, meaning the first terminal device can receive at least one first side-link information sent by at least one third terminal device in the first time slot. The first and second side-link information can be PSCCH, or a combination of PSCCH and PSSCH. In this embodiment, the second terminal is a half-duplex device. The first, second, and third terminal devices are terminal equipment. The first terminal device can be understood as an auxiliary terminal device, and the second terminal device can be understood as a assisted terminal device.

[0102] Optionally, the first terminal device receives second sidelink information sent from the second terminal device in the first time slot; and determines the first time slot as the time slot for the second terminal device to send the second sidelink information based on receiving the second sidelink information from the second terminal device in the first time slot. In some cases, the second terminal device does not send second sidelink information in the first time slot, but instead sends uplink information to the network device in the first time slot. In this case, the first time slot is also the time slot for the second terminal device to send information, and the second terminal device will send an indication message to inform the first terminal device that the second terminal device sent uplink information to the network device in the first time slot, or the second terminal device will inform the first terminal device through an indication message that the first time slot is the time slot for the second terminal device to send information.

[0103] The first terminal device listens in the first time slot and receives at least one first side-link information sent by at least one third terminal device. Alternatively, the first terminal device learns from the resource reservation period information in the side-link information sent by the second terminal device before the first time slot that the second terminal device needs to send second side-link information in the first time slot, that is, it learns that the second terminal device cannot listen in the first time slot. In this case, the first terminal device listens in the first time slot and receives at least one first side-link information sent by at least one third terminal device.

[0104] It should be understood that during the listening process, the first terminal device listens for SCIs sent by other terminal devices besides itself in each time slot. Therefore, while receiving the first sideline information from the third terminal device in the first time slot, it can also receive the second sideline information sent by the second terminal device. It is not that the second terminal device sending the second sideline information triggers the first terminal device to receive the first sideline information from the third terminal device, nor that the third terminal device sending the first sideline information triggers the first terminal device to receive the second sideline information from the second terminal device.

[0105] 520, the first terminal device determines the available and / or unavailable time-frequency resources in the first time slot based on the first side-row information. The first terminal device may determine only which time-frequency resources in the resource pool are available, or only which are unavailable, or simultaneously determine which are available and which are unavailable. This embodiment does not limit this determination. In this embodiment, available time-frequency resources can be resources with detected signal strength below a certain threshold; that is, such resources are considered unoccupied and available. Conversely, unavailable time-frequency resources can be resources with detected signal strength above a certain threshold; that is, such resources are considered occupied and unavailable.

[0106] Optionally, the first terminal device can determine the available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding at least one first sub-channel, based on at least one first side-channel information received from at least one third terminal device. It should be understood that if the second terminal device transmits second side-channel information using at least one first sub-channel in the first time slot, the first terminal device may not be concerned with whether the at least one first sub-channel is an available time-frequency resource for it; this can be determined by the second terminal device itself.

[0107] Specifically, the first terminal device can determine, based on a first threshold, the available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding at least one first sub-channel. The remaining sub-channels of the first time slot, excluding at least one first sub-channel, can be referred to as second sub-channels, and there can be one or more second sub-channels.

[0108] The first threshold can be a threshold value Th(pi,pi) determined by the first terminal device based on the priority information carried in the SCI sent by the second terminal device, or it can be a threshold value Th(pi,pi) determined by the first terminal device based on priority information configured or pre-configured by the network. For example, the priority information configured or pre-configured by the network can take any value from 1, 2, 3, 4, 5, 6, 7, 8. Specifically, the method for determining the threshold value based on the priority information can be: Th(pi,pi) is a function value with variables pi and pi, where pi is the priority value carried in the SCI sent by the third terminal device, and pi is the priority value carried in the SCI sent by the second terminal device or the priority value configured or pre-configured by the network. The network device configures or pre-configures a set of threshold values, which includes multiple threshold values. The value of Th(pi,pi) is the i-th threshold value among the multiple threshold values ​​in the set of threshold values, where i = p. i +(p i -1)*8.

[0109] In one implementation, a first terminal device receives first side-channel information transmitted by a third terminal device using a second sub-channel in a first timeslot. The first terminal device measures the reference signal received power (RSRP) on the second sub-channel, specifically, the RSRP measurement can be performed on the demodulation reference signal (DMRS) of the PSSCH. Based on a comparison of the RSRP with a first threshold, the first terminal device determines whether the second sub-channel is a usable time-frequency resource. If the RSRP is greater than the first threshold, the first terminal device determines that the second sub-channel is an unusable time-frequency resource; if the RSRP is less than or equal to the first threshold, the first terminal device determines that the second sub-channel is a usable time-frequency resource.

[0110] For example, the first terminal device determines that the pre-configured resource pool of the network device includes 7 sub-channels, including sub-channel #1, sub-channel #2, sub-channel #3, sub-channel #4, sub-channel #5, sub-channel #6, and sub-channel #7. The first terminal device can listen to each sub-channel in the first time slot. The first terminal device receives the second side-channel information sent by the second terminal device and determines that the second terminal device occupies 2 sub-channels, namely sub-channel #3 and sub-channel #4, when sending PSSCH. Then, the first terminal device only needs to determine the available and / or unavailable time-frequency resources in the other sub-channels besides sub-channel #3 and sub-channel #4. Figure 6 The diagram shown illustrates a resource selection method according to an embodiment of this application.

[0111] The first terminal device receives first side-channel information sent by UE-1, determines that UE-1 is using sub-channels #6 and #7 to send PSSCH, and measures the Reference Signal Received Power (RSRP) on sub-channels #6 and #7 respectively. If the measured RSRPs are both greater than a first threshold, then sub-channels #6 and #7 are determined to be unusable time-frequency resources. The first terminal device receives first side-channel information sent by UE-2, determines that UE-2 is using sub-channel #1 to send PSSCH, and measures the RSRP on sub-channel #1. If the RSRP is greater than the first threshold, then sub-channel #1 is determined to be an unusable time-frequency resource. The first terminal device does not receive first side-channel information on sub-channels #2 and #5, then sub-channels #2 and #5 are determined to be usable time-frequency resources; or, the first terminal device receives first side-channel information on sub-channels #2 and #5, but the measured RSRPs on sub-channels #2 and #5 are less than or equal to the first threshold, then sub-channels #2 and #5 are determined to be usable time-frequency resources. Not receiving the first sideline information can be understood as no other terminal device sending the first sideline information or being unable to correctly decode the first sideline information sent by other terminal devices. Receiving the first sideline information can be understood as successful decoding of the first sideline information. UE-1 and UE-2 are third terminal devices.

[0112] Therefore, the first terminal device determines that sub-channels #1, #6, and #7 are unavailable time-frequency resources, and determines that sub-channels #2 and #5 are available time-frequency resources. It is understandable that the unavailable or available time-frequency resources determined by the first terminal are relative to the second terminal device, because the second terminal device did not listen in the first time slot. The first terminal device assists or helps the second terminal device in listening in the first time slot to determine the unavailable or available time-frequency resources within the second terminal device's selection window.

[0113] In another implementation, the first terminal device receives first side-channel information transmitted by the third terminal device using the second sub-channel in the first time slot. The first terminal device measures the Reference Signal Received Power (RSRP) on the second sub-channel and determines whether the second sub-channel is an available time-frequency resource based on the RSRP, a first threshold, and the resource reservation period included in the first side-channel information. If the RSRP is greater than the first threshold, and the Resource Reservation Period (SCI) field used for scheduling data on the second sub-channel (i.e., the resource reservation period field included in the first side-channel information) exists, and the value of the resource reservation period indication carried by the resource reservation period field is greater than zero, then the first terminal device determines that the second sub-channel is an unavailable time-frequency resource. If the RSRP is less than or equal to the first threshold, the first terminal device determines that the second sub-channel is an available time-frequency resource. If the value of the resource reservation period indication included in the first side-channel information is equal to zero, or if there is no resource reservation period indication in the first side-channel information, the first terminal device determines that the second sub-channel is an available time-frequency resource.

[0114] For example, the first terminal device determines that the pre-configured resource pool of the network device includes 7 sub-channels, including sub-channel #1, sub-channel #2, sub-channel #3, sub-channel #4, sub-channel #5, sub-channel #6, and sub-channel #7. The first terminal device can listen to each sub-channel in the first time slot. The first terminal device receives the second side-channel information sent by the second terminal device and determines that the second terminal device occupies 2 sub-channels, namely sub-channel #3 and sub-channel #4, when sending PSSCH. Then, the first terminal device only needs to determine the available and / or unavailable time-frequency resources in the other sub-channels besides sub-channel #3 and sub-channel #4. Figure 7 As shown, another resource selection diagram according to an embodiment of this application is presented.

[0115] The first terminal device receives first side-channel information sent by UE-1, determines that UE-1 is using sub-channels #6 and #7 to send PSSCH, and measures the Reference Signal Received Power (RSRP) on sub-channels #6 and #7 respectively. If the measured RSRP is greater than a first threshold, it indicates that sub-channels #6 and #7 are occupied in the first time slot. Furthermore, if the resource reservation period indication included in the first side-channel information is greater than zero, it indicates that this will cause a conflict in the future resource selection of the second terminal device. Therefore, sub-channels #6 and #7 are determined to be unavailable time-frequency resources. The first terminal device receives first side-channel information sent by UE-2, determines that UE-2 is using sub-channel #1 to send PSSCH, and measures the RSRP on sub-channel #1. If the RSRP is greater than a first threshold, and the resource reservation period indication included in the first side-channel information is equal to zero, or if the first side-channel information does not contain a resource reservation period indication, it indicates that although sub-channel #1 is occupied in the first time slot, it will not cause a conflict in the future resource selection of the second terminal device. Therefore, sub-channel #1 is determined to be an available time-frequency resource. If the first terminal device does not receive the first side-channel information on sub-channels #2 and #5, then sub-channels #2 and #5 are determined to be available time-frequency resources. Alternatively, if the first terminal device receives the first side-channel information on sub-channels #2 and #5, but the RSRP measured on sub-channels #2 and #5 is less than or equal to a first threshold, then regardless of whether the resource reservation period indication included in the first side-channel information is equal to or greater than zero, it will not cause a conflict to the future resource selection of the second terminal device, and therefore sub-channels #2 and #5 are determined to be available time-frequency resources. UE-1 and UE-2 are the third terminal devices.

[0116] Therefore, the first terminal device determines that sub-channels #6 and #7 are unavailable time-frequency resources, and determines that sub-channels #1, #2 and #5 are available time-frequency resources.

[0117] Optionally, the first terminal device can determine the available and / or unavailable time-frequency resources in all sub-channels of the first time slot based on the first side-row information and the second side-row information.

[0118] Specifically, the first terminal device can determine the available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding at least one first sub-channel, based on a first threshold. The first terminal device can also determine the available and / or unavailable time-frequency resources in at least one first sub-channel based on a second threshold, wherein the second threshold is greater than the first threshold. The remaining sub-channels of the first time slot, excluding at least one first sub-channel, can be referred to as second sub-channels, and there can be one or more second sub-channels. In one embodiment, the second threshold = the first threshold + an offset value, where the offset value can be configured by the network device, pre-configured, or predefined (e.g., offset value = 3dB), and the offset value is a positive number in dB.

[0119] The first threshold can be a threshold value determined by the first terminal device based on the priority information carried in the SCI sent by the second terminal device, or it can be a threshold value determined by the first terminal device based on the priority information configured or pre-configured by the network. For example, it can be any one of 1, 2, 3, 4, 5, 6, 7, 8.

[0120] The second threshold can be configured by the network device, such as through RRC signaling; or it can be pre-configured by the network device; or it can be configured by the first terminal device to the second terminal device, such as through PC-5RRC signaling or SCI information; or it can be configured by the second terminal device to the first terminal device; or it can be determined based on the priority information of the first terminal device and / or the second terminal device. This application does not limit this in any way.

[0121] The specific process by which the first terminal device determines the available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding at least one first sub-channel, based on the first threshold is the same as described above.

[0122] In one implementation, a first terminal device receives second side-channel information transmitted by a second terminal device in a first time slot using at least one first sub-channel. The first terminal device measures the Reference Signal Received Power (RSRP) on the at least one first sub-channel and determines whether the at least one first sub-channel is an available time-frequency resource based on a comparison of the RSRP and a second threshold. If the RSRP is greater than the second threshold, it indicates that the sub-channel resource is conflicted, meaning that more than one terminal device is using at least one first sub-channel to transmit side-channel information in the first time slot, and the first terminal device determines that the at least one first sub-channel is an unavailable time-frequency resource. If the RSRP is less than or equal to the second threshold, it indicates that only the second terminal device is using at least one first sub-channel to transmit side-channel information in the first time slot, and the first terminal device determines that the at least one first sub-channel is an available time-frequency resource.

[0123] For example, the first terminal device determines that the resource pool pre-configured by the network equipment includes seven sub-channels, namely sub-channel #1, sub-channel #2, sub-channel #3, sub-channel #4, sub-channel #5, sub-channel #6, and sub-channel #7. The first terminal device can listen to each sub-channel in the first time slot to determine the available and / or unavailable time-frequency resources among the seven sub-channels in the first time slot. The first terminal device receives the second side-channel information sent by the second terminal device and determines that the second terminal device occupies two sub-channels, namely sub-channel #3 and sub-channel #4, when sending PSSCH. The reference signal received power (RSRP) is measured on sub-channel #3 and sub-channel #4 respectively. If the measured RSRP is greater than a second threshold, it indicates that sub-channel #3 and sub-channel #4 are in conflict, and sub-channel #3 and sub-channel #4 are determined to be unavailable time-frequency resources. The first terminal device receives first side-channel information sent by UE-1, determines that UE-1 is using sub-channels #6 and #7 to send PSSCH, and measures the Reference Signal Received Power (RSRP) on sub-channels #6 and #7 respectively. If the measured RSRP is greater than a first threshold, sub-channels #6 and #7 are determined to be unavailable time-frequency resources. The first terminal device receives first side-channel information sent by UE-2, determines that UE-2 is using sub-channel #1 to send PSSCH, and measures the RSRP on sub-channel #1. If the RSRP is greater than the first threshold, sub-channel #1 is determined to be unavailable time-frequency resources. If the first terminal device does not receive first side-channel information on sub-channels #2 and #5, then sub-channels #2 and #5 are determined to be available time-frequency resources; or, if the first terminal device receives first side-channel information on sub-channels #2 and #5, but the measured RSRP on sub-channels #2 and #5 is less than or equal to the first threshold, then sub-channels #2 and #5 are determined to be available time-frequency resources. UE-1 and UE-2 are third terminal devices. Therefore, the first terminal device determines that sub-channels #1, #3, #4, #6 and #7 are unavailable time-frequency resources, and determines that sub-channels #2 and #5 are available time-frequency resources.

[0124] For example, the first terminal device determines that the pre-configured resource pool of the network equipment includes seven sub-channels, namely sub-channel #1, sub-channel #2, sub-channel #3, sub-channel #4, sub-channel #5, sub-channel #6, and sub-channel #7. The first terminal device can listen to each sub-channel in the first time slot to determine the available and / or unavailable time-frequency resources among the seven sub-channels in the first time slot. The first terminal device receives the second side-link information sent by the second terminal device and determines that the second terminal device occupies two sub-channels, namely sub-channel #3 and sub-channel #4, when sending PSSCH. The reference signal received power (RSRP) is measured on sub-channel #3 and sub-channel #4 respectively. If the measured RSRP is greater than a second threshold, it indicates that sub-channel #3 and sub-channel #4 are in conflict, and sub-channel #3 and sub-channel #4 are determined to be unavailable time-frequency resources. The first terminal device receives first side-channel information sent by UE-1, determines that UE-1 is using sub-channels #6 and #7 to send PSSCH, and measures the Reference Signal Received Power (RSRP) on sub-channels #6 and #7 respectively. If the measured RSRP is greater than a first threshold, it indicates that sub-channels #6 and #7 are occupied in the first time slot. Furthermore, if the resource reservation period indication included in the first side-channel information is greater than zero, it indicates that this will cause a conflict in the future resource selection of the second terminal device. Therefore, sub-channels #6 and #7 are determined to be unavailable time-frequency resources. The first terminal device receives first side-channel information sent by UE-2, determines that UE-2 is using sub-channel #1 to send PSSCH, and measures the RSRP on sub-channel #1. If the RSRP is greater than a first threshold, and the resource reservation period indication included in the first side-channel information is equal to zero, or if the first side-channel information does not contain a resource reservation period indication, it indicates that although sub-channel #1 is occupied in the first time slot, it will not cause a conflict in the future resource selection of the second terminal device. Therefore, sub-channel #1 is determined to be an available time-frequency resource. If the first terminal device does not receive the first side-channel information on sub-channels #2 and #5, then sub-channels #2 and #5 are determined to be available time-frequency resources. Alternatively, if the first terminal device receives the first side-channel information on sub-channels #2 and #5, but the RSRP measured on sub-channels #2 and #5 is less than or equal to a first threshold, then regardless of whether the resource reservation period indication included in the first side-channel information is equal to or greater than zero, it will not cause a conflict to the future resource selection of the second terminal device, and therefore sub-channels #2 and #5 are determined to be available time-frequency resources. UE-1 and UE-2 are third terminal devices. Therefore, the first terminal device determines that sub-channels #3, #4, #6, and #7 are unavailable time-frequency resources, and determines that sub-channels #1, #2, and #5 are available time-frequency resources.

[0125] In another implementation, the first terminal device receives second sideline information sent by the second terminal device in the first time slot using at least one first sub-channel. However, if the first terminal device cannot correctly decode the second sideline information or the decoding fails, it is considered that other terminal devices besides the second terminal device are using the first sub-channel to send sideline information, indicating that the first sub-channel resource is conflicted. Then, the first terminal device determines that at least one first sub-channel is an unavailable time-frequency resource.

[0126] Optionally, the first terminal device may determine the available and / or unavailable time-frequency resources in all sub-channels of the first time slot based solely on the first sideline information. Since the sub-channel occupied by at least one piece of first sideline information sent by at least one third terminal device may conflict with the sub-channel occupied by second sideline information sent by the second terminal device, the first terminal device may also determine the available and / or unavailable time-frequency resources in all sub-channels of the first time slot based solely on the first sideline information.

[0127] Similarly, the first terminal device can also determine the available and / or unavailable time-frequency resources in all sub-channels of the first time slot based solely on the second side information.

[0128] 530, the first terminal device sends a first indication information to the second terminal device. The first indication information is used to indicate the available and / or unavailable time and frequency resources in the first time slot. In other words, the first indication information is used to indicate the available and / or unavailable sub-channels in the first time slot.

[0129] Optionally, the first indication information can be used to indicate the available time-frequency resources in all sub-channels of the first time slot, or it can be used to indicate the unavailable time-frequency resources in all sub-channels of the first time slot, or it can be used to indicate both available and unavailable time-frequency resources in all sub-channels of the first time slot.

[0130] Optionally, the first indication information can be used to indicate the available time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding at least one first sub-channel; it can also be used to indicate the unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding at least one first sub-channel; and it can also be used to indicate the available and unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding at least one first sub-channel.

[0131] Time-frequency resources can be represented by one or more sub-channels in the first time slot. The first indication information may include N bits, where N is the number of sub-channels in the resource pool that can be used to transmit sideline information, or the number of sub-channels in the resource pool other than the first sub-channel, i.e., the number of second sub-channels. Each of the N bits can correspond one-to-one with each sub-channel in the resource pool, or each sub-channel in the resource pool other than the first sub-channel, to indicate whether each sub-channel is available. For example, when a bit is "1", it means that the sub-channel corresponding to that bit is unavailable, and when a bit is "0", it means that the sub-channel corresponding to that bit is available; the reverse also applies.

[0132] Optionally, the first terminal device may send first indication information to the second terminal device on the physical sidelink feedback channel (PSFCH). The resources of the PSFCH carrying the first indication information may be provided by resource pool configuration information. The PSFCH resources are orthogonal, i.e., non-overlapping.

[0133] In one implementation, a PSFCH resource includes a physical resource block (PRB). The first terminal device can carry N bits of information by sending N consecutive or discrete PSFCHs, that is, each PRB carries one bit of information.

[0134] In another implementation, a PSFCH resource includes N PRBs, and the first terminal device can carry N bits of information by sending a PSFCH.

[0135] Specifically, the bit information can be represented by different cyclic shift methods to indicate a bit value of "1" or "0". The time-domain resources used to carry the PSSCH carrying the first indication information are spaced at least K time slots after the first time slot, where K is a positive integer greater than or equal to 0. K can be carried in the resource pool configuration information, for example, a value of 2 or 3. For the bit information corresponding to the sub-channel occupied by the second terminal device to transmit the PSSCH in the first time slot, the first terminal device may not transmit it, or may specify to transmit a specific value, such as "1" or "0". The second terminal device itself does not interpret or process its own bit information, because the second terminal device knows that it is using the sub-channel corresponding to the bit information to transmit the PSSCH.

[0136] like Figure 8The diagram illustrates the transmission of the first indication information according to an embodiment of this application. For example, if the resource pool includes 7 sub-channels, then it includes 7 bits of information used to indicate whether each of the 7 sub-channels is a usable time-frequency resource. The first and second bits correspond to sub-channels #1 and #2, and are transmitted as sequences of "1" and "0" values ​​respectively. The first terminal device does not transmit the third and fourth bits. The remaining bits are either "0" or "1", used to indicate whether sub-channels #5, #6, and #7 are available. The bit information can all be carried in the PSFCH resource. The time-domain resource of the PSFCH and the interval between time slots m are greater than or equal to the configured K value. Figure 8 The K value is 3. It should be noted that PSFCH is only an example of carrying the first indication information. The first indication information can also be carried in PSCCH or PSSCH, for example, it can also be carried in the second-level SCI or MAC CE or PC5-RRC.

[0137] 540, the second terminal device receives first indication information from the first terminal device. Specifically, the second terminal device may receive the first indication information from the first terminal device on the physical side line feedback channel (PSFCH).

[0138] 550, the second terminal device determines the time-frequency resources in the resource selection window for transmitting the third side-link information according to the first instruction information. Specifically, the second terminal device, according to the first instruction information, excludes the time-frequency resources in the resource selection window that are unavailable due to reservations determined according to the resource reservation period instruction, and transmits the third side-link information according to the available time-frequency resources. The time slot for transmitting the third side-link information is a time slot following the first time slot.

[0139] Assuming the configured resource reservation period indication values ​​are P1 and P2, and correspondingly, the logical resource reservation period indication values ​​in a resource pool are P′1 and P′2, and the first time slot is time slot m, the second terminal device can exclude sub-channels indicated as unavailable by the first indication information on time slots m+P′1 and m+P′2 in the resource selection window, and determine the sub-channels indicated as available by the first indication information on time slots m+P′1 and m+P′2 as available time-frequency resources. Optionally, if the second terminal device also transmits periodic second information in the first time slot, the second terminal device can exclude at least one first sub-channel on time slot m+P′1 or time slot m+P′2 based on the actual value of the resource reservation period indication contained in the second information.

[0140] The second terminal device can also exclude unavailable time-frequency resources based on its actual resource usage. Optionally, if the second terminal device only made a reservation in time slot m+P′1, then the second terminal device can exclude only the sub-channels indicated as unavailable by the first indication information on time slot m+P′1, and the sub-channels indicated as available by the first indication information on time slot m+P′1 are available time-frequency resources; if the second terminal device only made a reservation in time slot m+P′2, then the second terminal device can exclude only the sub-channels indicated as unavailable by the first indication information on time slot m+P′2, and the sub-channels indicated as available by the first indication information on time slot m+P′2 are available time-frequency resources.

[0141] If the first indication information sent by the first terminal device indicates that at least one first sub-channel for the second terminal device to send the second sideline information in the first time slot is an unavailable time-frequency resource, that is, the first terminal device determines that at least one first sub-channel is a conflicting time-frequency resource, or the first terminal device fails to decode the received second sideline information, then the second terminal device can exclude at least one first sub-channel on time slot m+P′1 and time slot m+P′2, and reselect an available sub-channel to send the third sideline information.

[0142] If the first indication information sent by the first terminal device indicates that at least one first sub-channel for the second terminal device to transmit second sideline information in the first time slot is an unavailable time-frequency resource, but the second terminal device receives an acknowledgment (ACK) message for the second sideline information sent by another terminal device, then the second terminal device may use the first sub-channel to transmit third sideline information in time slots m+P′1 and m+P′2.

[0143] If the first indication information sent by the first terminal device indicates that at least one first sub-channel for the second terminal device to transmit the second sideline information in the first time slot is an unavailable time-frequency resource, and the second terminal device receives a negative acknowledgment (NACK) message for the second sideline information sent by another terminal device, then the second terminal device will not use at least one first sub-channel to transmit the third sideline information in time slots m+P′1 and m+P′2.

[0144] Besides the possibility that the terminal device lacks a listening slot due to half-duplex issues, another reason could be energy saving. The terminal device might listen to only a portion of the time slots within a time period consisting of consecutive time slots for resource selection. This includes performing partial sensing resource selection and configuring DRX (Discontinuous Reception) for discontinuous reception. For simplicity, this resource selection method is described as resource selection based on partial sensing. Within this time period, since the terminal device only determines the listening result based on a portion of the time slots, the listening result cannot fully reflect the complete time-frequency resource reservation situation within that time period. This can lead to collisions between the time-frequency resources selected within the selection window and resources reserved by other terminal devices. One solution is to select time slot m for the time-frequency resources of the SL information to be transmitted, and perform resource re-evaluation and preemption detection in time slot m-T3. The value of is determined by Table 1. That is, before sending the data to be sent, the time-frequency resources used for sending the SL information to be sent are re-evaluated and preemption detected. This includes at least listening to time slot m-T3 to determine whether the time-frequency resources indicated by the sideline control information received in time slot m-T3 overlap with the time-frequency resources on time slot m used for sending the SL information to be sent. If they overlap, the overlapping time-frequency resources are re-selected; if they do not overlap, the SL information to be sent is sent on time slot m. If the terminal device re-evaluates and preempts the time-frequency resources selected for sending the SL information to be sent based on partial listening before each SL information to be sent, the energy consumption from listening and decoding will be relatively high, which is not conducive to energy saving. Therefore, the terminal device can determine, based on some triggering conditions, to perform re-evaluation and preemption detection at least on time slot m-T3 to determine the time-frequency resources on time slot m used for sending the SL information to be sent. That is, before sending the SL information to be sent, a re-evaluation and preemption detection of the time-frequency resources used to send the SL information to be sent is determined according to triggering conditions. The triggering conditions include:

[0145] The terminal device determines to re-evaluate and preemptively detect the time-frequency resources used to transmit the SL information based on feedback information received before transmitting the SL information. The feedback information includes HARQ feedback information, which indicates the reception status of data transmitted before transmitting the SL information. For example, if the data is correctly received by the receiving terminal device, an ACK feedback is received from the receiving terminal device; if the data is not correctly received by the receiving terminal device, a NACK feedback is received from the receiving terminal device. Specifically, if the terminal device receives N1 or more NACK feedbacks consecutively within a certain period before sending the SL information to be sent, it triggers a re-evaluation and preemption detection of the time-frequency resources used to send the SL information; or, if the terminal device receives N2 or more NACK feedbacks cumulatively within a certain period before sending the SL information to be sent, it triggers a re-evaluation and preemption detection of the time-frequency resources used to send the SL information; wherein the terminal device obtains N1 and N2 through the configuration information of the network-side device, or through pre-configuration or pre-definition. The time period includes multiple consecutive time slots, and the number of time slots can be configured, pre-configured, or pre-defined by the network-side device. The number of consecutively received HARQ feedback messages or the cumulative number of received HARQ feedback messages over a period of time can reflect the current channel interference level to a certain extent. That is, the higher the channel interference level, the more likely resource selection collisions will occur, leading to data collisions. In this case, reassessment and preemption detection can preemptively send data that has collided with the selected time-frequency resources, triggering resource reselection, reducing collisions, and improving data transmission reliability. Conversely, the lower the channel interference level, the lower the probability of resource selection collisions. Considering energy-saving factors, reassessment and preemption detection are not necessary. It should be understood that the terminal device can be a first terminal device, a second terminal device, or a third terminal device.

[0146] In another scenario, the second terminal device is scheduled by the network device to perform uplink transmission in at least one time slot within the listening window of the first terminal device. Due to half-duplex limitations, the second terminal device cannot listen to the time slot used for uplink transmission. The first terminal device cannot correctly decode the uplink information sent by the second terminal device to the network device and cannot determine that the uplink transmission time slot (the first time slot) is a time slot that the second terminal device cannot listen to. Therefore, it cannot send the first indication information to the second terminal device to assist it in resource selection. One solution is that, upon receiving uplink scheduling information from the network device, which indicates the time slot where the uplink resource is located, the second terminal device informs the first terminal device of the time slot where the uplink resource is located before the time slot itself appears. The time slot where the uplink resource is located is carried in the fourth sidelink information. The fourth sideline information can be sideline control information (SCI), sideline MAC CE, or PC5-RRC signaling. That is, the first terminal device obtains the time slot used for uplink transmission by receiving the fourth sideline information sent by the second terminal device. The first terminal device determines the time slot used for uplink transmission as the first time slot, then listens in the first time slot to determine the available and / or unavailable time-frequency resources in the first time slot, and sends a first indication information to the second terminal device to determine the time-frequency resources for transmitting the third sideline information.

[0147] It should be understood that the second terminal device may have multiple undetected time slots in a listening window. The first terminal device can determine the first indication information by listening in multiple time slots that the second terminal device has not detected, or the first terminal device can determine multiple first indication information and send the multiple first indication information to the second terminal device. Then the second terminal device can determine the time and frequency resources in the resource selection window for sending the third sideline information based on the multiple first indication information.

[0148] In the technical solution provided in this application embodiment, the second terminal device sends second side-channel information in the first time slot, causing it to be unable to listen to the time-frequency resources used or reserved by other terminal devices sending side-channel information. The first terminal device, through listening in the first time slot, can learn about the time-frequency resources used or reserved by other terminal devices (including the second terminal device and / or at least one third terminal device) sending side-channel information, and indicates the determined available and / or unavailable time-frequency resources to the second terminal device through first indication information. This avoids the second terminal device excluding all available periodic time-frequency resources based on the resource reservation period indication, increasing the available time-frequency resources and thus improving resource utilization. Furthermore, the increase in available resources reduces the probability of resource selection collisions between different terminal devices, improving transmission reliability.

[0149] This application provides a communication device 900, which can be applied to... Figure 5 The first terminal device in the method embodiment can also be an implementation Figure 5 Components of the method in the embodiments, such as a chip. Figure 9 The diagram shown illustrates a schematic block diagram of a communication device 900 according to an embodiment of this application. The communication device 900 includes:

[0150] Transceiver unit 910 is used to receive first sideline information from a third terminal device in a first time slot;

[0151] Processing unit 920 is configured to determine available and / or unavailable time-frequency resources in the first time slot based on the first side-row information;

[0152] The transceiver unit 910 is further configured to send a first indication information to the second terminal device, the first indication information being used to indicate available and / or unavailable time-frequency resources in the first time slot, the first time slot being the time slot in which the second terminal device sends second side-going information.

[0153] In this embodiment of the application, the transceiver unit can be a sending unit when performing the sending step and a receiving unit when performing the receiving step. In addition, the transceiver unit can be replaced by a transceiver, the sending unit can be replaced by a transmitter, and the receiving unit can be replaced by a receiver.

[0154] Optionally, the transceiver unit 910 is further configured to receive the second side-line information from the second terminal device in the first time slot;

[0155] The processing unit 920 is further configured to determine, based on receiving the second sideline information from the second terminal device in the first time slot, that the first time slot is the time slot in which the second terminal device sends the second sideline information.

[0156] Optionally, the first time slot is located in the listening window of the second terminal device.

[0157] Optionally, the first time slot includes at least one sub-channel, and at least one first sub-channel in the first time slot is used by the second terminal device to send the second side-going information, wherein the at least one first sub-channel belongs to the at least one sub-channel.

[0158] Optionally, the processing unit 920 is specifically configured to: determine, based on the first sideline information and / or the second sideline information, the available and / or unavailable time-frequency resources in all sub-channels of the first time slot; or, based on the first sideline information, determine, based on the first sideline information, the available and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding the at least one first sub-channel.

[0159] Optionally, the first indication information is used to indicate the available and / or unavailable time-frequency resources in all sub-channels of the first time slot; or

[0160] The first indication information is used to indicate the available and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding the at least one first sub-channel.

[0161] Optionally, the processing unit 920 is specifically used for:

[0162] Based on a first threshold, determine the available and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels in the first time slot, excluding the at least one first sub-channel.

[0163] Based on a second threshold, available and / or unavailable time-frequency resources in the at least one first sub-channel are determined, wherein the second threshold is greater than the first threshold.

[0164] Optionally, the transceiver unit 910 is further configured to send the first indication information to the second terminal device on the physical side line feedback channel.

[0165] This application embodiment proposes another communication device 1000, which can be applied to... Figure 5 The second terminal device in the method embodiment can also be an implementation Figure 5 Components of the method in the embodiments, such as a chip. Figure 10 The diagram shown illustrates a schematic block diagram of a communication device 1000 according to an embodiment of this application. The communication device 1000 includes:

[0166] The transceiver unit 1010 is used to send second side-link information to the first terminal device in the first time slot;

[0167] The transceiver unit 1010 is further configured to receive first indication information from the first terminal device, the first indication information being used to indicate available and / or unavailable time-frequency resources in the first time slot, wherein the available and / or unavailable time-frequency resources in the first time slot are determined by the first terminal device based on first side-by-side information received in the first time slot from the third terminal device;

[0168] The processing unit 1020 is configured to determine the time-frequency resources for transmitting the third side-line information based on the first indication information.

[0169] Optionally, the first time slot is located in the listening window of the second terminal device.

[0170] Optionally, the first time slot includes at least one sub-channel, and the second terminal device sends the second side-going information to the first terminal device in at least one first sub-channel of the first time slot, wherein the at least one first sub-channel belongs to the at least one sub-channel.

[0171] Optionally, the first indication information is used to indicate the available and / or unavailable time-frequency resources in all sub-channels of the first time slot; or

[0172] The first indication information is used to indicate the available and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot, excluding the at least one first sub-channel.

[0173] Optionally, the available and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels in the first time slot, excluding the at least one first sub-channel, are determined based on a first threshold.

[0174] The available and / or unavailable time-frequency resources in at least one first sub-channel are determined based on a second threshold, which is greater than the first threshold.

[0175] Optionally, the transceiver unit 1010 is further configured to receive the first indication information from the first terminal device on the physical side line feedback channel.

[0176] This application provides a communication device 1100, such as... Figure 11 The diagram illustrates a schematic block diagram of another communication device according to an embodiment of this application. The communication device 1100 includes a processor 1110 coupled to at least one memory 1120. The processor 1110 is configured to read a computer program stored in the at least one memory 1120 to execute a method in any possible implementation of the embodiments of this application.

[0177] The aforementioned processor 1110 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method embodiments can be completed by integrated logic circuits in the processor's hardware or by software instructions. The aforementioned processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0178] The aforementioned memory 1120 can be volatile memory or non-volatile memory, or may include both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DRRAM).

[0179] This application provides a communication chip, including a processor and a communication interface, wherein the processor is used to read instructions or computer programs to execute the methods in this application.

[0180] This application provides a communication system 1200, including a first terminal device 1210 and a second terminal device 1220 in the communication method provided in this application. For example... Figure 12 The diagram shown is a schematic block diagram of a communication system 1200 according to an embodiment of this application.

[0181] This application also provides a computer-readable storage medium storing a computer program for implementing the methods in the embodiments of this application. When the computer program is run on a computer, the computer can implement the methods in the above-described method embodiments.

[0182] This application also provides a computer program product that, when run on a computer, causes the computer to execute the methods described in this application.

[0183] It is understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0184] It is understood that in this application, "when," "if," and "if" all refer to the device making a corresponding action under certain objective circumstances, and are not time-limited, nor do they require the device to make a judgment when it is implemented, nor do they imply any other limitations.

[0185] Those skilled in the art will understand that the various numerical designations, such as "first" and "second," used in this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The specific values, quantities, and positions of the designations (also referred to as indexes) in this application are for illustrative purposes only and are not the only representations, nor are they intended to limit the scope of the embodiments of this application. The various numerical designations, such as "first" and "second," used in this application are also merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application.

[0186] Furthermore, the term "and / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship. The term "at least one" in this application can represent "one" and "two or more." For example, at least one of A, B, and C can represent: A existing alone, B existing alone, C existing alone, A and B existing simultaneously, A and C existing simultaneously, C and B existing simultaneously, and A, B, and C existing simultaneously.

[0187] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0188] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0189] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0190] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0191] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0192] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0193] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A communication method, characterized in that, include: The first terminal device receives first side-by-side information from the third terminal device in the first time slot; The first terminal device determines the available and / or unavailable time-frequency resources in the first time slot based on the first side-going information; The first terminal device sends a first indication information to the second terminal device. The first indication information is used to indicate the available time-frequency resources and / or unavailable time-frequency resources in the first time slot. The first time slot is the time slot in which the second terminal device sends the second side-link information. Before the first terminal device sends the first instruction information to the second terminal device, the method further includes: The first terminal device receives the second side-link information from the second terminal device in the first time slot; The first terminal device determines the first time slot as the time slot in which the second terminal device sends the second side information based on receiving the second side information from the second terminal device in the first time slot; The first time slot is located in the listening window of the second terminal device; Wherein, the first time slot includes at least one sub-channel, and at least one first sub-channel in the first time slot is used by the second terminal device to send the second side-going information, the at least one first sub-channel belongs to the at least one sub-channel, and the first indication information is used to indicate the available time-frequency resources and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot except for the at least one first sub-channel.

2. The method according to claim 1, characterized in that, The first terminal device determines the available and / or unavailable time-frequency resources in the first time slot based on the first side-going information, including: The first terminal device determines, based on the first side-channel information, the available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding the at least one first sub-channel.

3. The method according to claim 2, characterized in that, The first terminal device determines, based on a first threshold, the available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding the at least one first sub-channel.

4. The method according to any one of claims 1 to 3, characterized in that, The first terminal device sends the first indication information to the second terminal device on the physical side line feedback channel.

5. A communication method, characterized in that, include: The second terminal device sends second side-link information to the first terminal device in the first time slot; The second terminal device receives first indication information from the first terminal device, the first indication information being used to indicate available and / or unavailable time-frequency resources in the first time slot, wherein the available and / or unavailable time-frequency resources in the first time slot are determined by the first terminal device based on first side-by-side information received from the third terminal device in the first time slot; The second terminal device determines the time and frequency resources for sending the third side-link information based on the first instruction information; The first time slot is located in the listening window of the second terminal device; Wherein, the first time slot includes at least one sub-channel, the second terminal device sends the second side-going information to the first terminal device in at least one first sub-channel of the first time slot, the at least one first sub-channel belongs to the at least one sub-channel, and the first indication information is used to indicate the available time-frequency resources and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot except for the at least one first sub-channel.

6. The method according to claim 5, characterized in that, The available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding the at least one first sub-channel, are determined based on a first threshold.

7. The method according to claim 5 or 6, characterized in that, The second terminal device receives the first indication information from the first terminal device on the physical side line feedback channel.

8. A first terminal device, characterized in that, include: The transceiver unit is used to receive first sideline information from the third terminal device in the first time slot; The processing unit is configured to determine, based on the first side-row information, the available and / or unavailable time-frequency resources in the first time slot; The transceiver unit is further configured to send a first indication information to the second terminal device, the first indication information being used to indicate available and / or unavailable time-frequency resources in the first time slot, the first time slot being the time slot in which the second terminal device sends second side-link information; Before sending the first instruction information to the second terminal device, the transceiver unit is further configured to receive the second sideline information from the second terminal device in the first time slot; The processing unit is further configured to determine, based on receiving the second sideline information from the second terminal device in the first time slot, that the first time slot is the time slot in which the second terminal device sends the second sideline information; The first time slot is located in the listening window of the second terminal device; Wherein, the first time slot includes at least one sub-channel, and at least one first sub-channel in the first time slot is used by the second terminal device to send the second side-going information, the at least one first sub-channel belongs to the at least one sub-channel, and the first indication information is used to indicate the available time-frequency resources and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot except for the at least one first sub-channel.

9. The first terminal device according to claim 8, characterized in that, The processing unit is specifically used for: Based on the first side-row information, determine the available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding the at least one first sub-channel.

10. The first terminal device according to claim 9, characterized in that, The processing unit is specifically used for: Based on a first threshold, determine the available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding the at least one first sub-channel.

11. The first terminal device according to any one of claims 8 to 10, characterized in that, The transceiver unit is also used to send the first indication information to the second terminal device on the physical side line feedback channel.

12. A second terminal device, characterized in that, include: The transceiver unit is used to send second side-line information to the first terminal device in the first time slot; The transceiver unit is further configured to receive first indication information from the first terminal device, the first indication information being used to indicate available and / or unavailable time-frequency resources in the first time slot, wherein the available and / or unavailable time-frequency resources in the first time slot are determined by the first terminal device based on first side-by-side information received in the first time slot from the third terminal device; The processing unit is configured to determine the time-frequency resources for transmitting the third sideline information based on the first indication information; The first time slot is located in the listening window of the second terminal device; Wherein, the first time slot includes at least one sub-channel, the second terminal device sends the second side-going information to the first terminal device in at least one first sub-channel of the first time slot, the at least one first sub-channel belongs to the at least one sub-channel, and the first indication information is used to indicate the available time-frequency resources and / or unavailable time-frequency resources in the remaining sub-channels of all sub-channels of the first time slot except for the at least one first sub-channel.

13. The second terminal device according to claim 12, characterized in that, The available and / or unavailable time-frequency resources in the remaining sub-channels of the first time slot, excluding the at least one first sub-channel, are determined based on a first threshold.

14. The second terminal device according to claim 12 or 13, characterized in that, The transceiver unit is further configured to receive the first indication information from the first terminal device on the physical side line feedback channel.

15. A communication device, characterized in that, The method includes a processor coupled to at least one memory, the processor being configured to read a computer program stored in the at least one memory to perform the method as claimed in any one of claims 1 to 4, or to perform the method as claimed in any one of claims 5 to 7.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 4, or causes the computer to perform the method as described in any one of claims 5 to 7.

17. A computer program product, characterized in that, Includes a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 4, or causes the computer to perform the method as described in any one of claims 5 to 7.

18. A chip, characterized in that, It includes a processor and a communication interface, the processor being configured to read instructions or a computer program to perform the method as described in any one of claims 1 to 4, or to cause the computer to perform the method as described in any one of claims 5 to 7.

19. A communication system, characterized in that, It includes the first terminal device as described in any one of claims 8 to 11, and the second terminal device as described in any one of claims 12 to 14.

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